There are many books by scholars but it is probably not what you are asking for. But you can read a lot as usual on the English Wikipedia [0]. I wrote recently

There are many books by scholars but it is probably not what you are asking for. But you can read a lot as usual on the English Wikipedia [0]. I wrote recently a small book in French about this subject and had entertained the idea to write an augmented version in English in one or two years. [0] https://en.wikipedia.org/wiki/History_of_Africa https://en.wikipedia.org/wiki/History_of_Africa